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A two-fingered micro hand has been available for use for years and allows dexterous manipulation of a single cell: grabbing, positioning, rotating and releasing. The end-effector of this micro hand consists of two glass needles; however, the glass tips must be finely adjusted and the micro hand must be calibrated prior to use. Because these initial procedures require highly skilled human operators...
The development of a chopstick-like two-fingered micromanipulator based on a hybrid mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical (PRS) parallel modules connected serially in a mirror image style. Each module has a long glass pipette as an end effector. The development process consists of three phases. In the first phase, analysis and mathematical modeling, a...
A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it...
The optimization and design process of a two-fingered micro hand that uses a hybrid motion mechanism is presented. The hybrid hand consists of two 3-PRS parallel modules - upper and lower - connected serially back to back in a mirror image style. It is driven by piezo-electric actuators and has two long glass petites as end effectors. The most important part in the development process is the optimization...
A custom-made robot arm that is specially designed for a given task is better than a general-purpose robot arm based on the performance index it is designed for. In industries, however, a general-purpose robot arm is prevalently used since it can perform over several and varying tasks. Because of this, a custom-made robot arm becomes impractical due to its high fabrication cost. In this study, we...
A method to minimize the working time of a 6-DOF robot arm in inspecting products is presented. It involves subdividing one large complex problem into several sub- problems. There are three issues considered: (1) the base position of robot arm (2) the order of product parts to be inspected called inspection points and (3) the heat generated in joint motors. The proposed method used the Tabu search...
In this paper, the structure of a new compact and yet economical two-fingered micro-nano hybrid manipulator hand is presented. The hybrid manipulator hand consists of two series modules; upper and lower module. Each of them consists of a parallel kinematics chain with a glass pipette as an end effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the...
This paper investigates a calibration of a parallel mechanism stage which is set up under the microscope. The calibration method uses the measurement data of the translation movement in the plane of the end-effector and rotation about the axis perpendicular to it using measurement method with the micro grid pattern. This paper discusses its calibration method with experiments for the stage constructed...
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